ifm
System Manual
ecomat
mobile
PDM360NG (CR1080, CR1081, CR9042) Target V01
2011-07-28
Annex
CANopen tables
424
SDO command bytes
9968
Structure of an SDO message:
COB ID
DLC
Command
Index
Sub-index
Data *)
XXX
8
byte
byte 0
byte 1
byte
byte 0
byte 1
byte 2
byte 3
*) depending on the data to be transmitted
NOTE:
Please note the reversed byte order!
An SDO COB ID consists of:
CANopen
Node ID
COB ID SDO
TX: 580
16
+ node ID
1…127
RX: 600
16
+ node ID
TX = slave sends to master
RX = slave receives from master
DLC (data length code) indicates the number of the data bytes (for SDO: DLC = 8).
SDO command bytes:
Command
hex | dec
Message
Data length
Description
21
33
request
more than 4 bytes
send data to slave
22
34
request
1…4 bytes
send data to slave
23
35
request
4 bytes
send data to slave
27
39
request
3 bytes
send data to slave
2B
43
request
2 bytes
send data to slave
2F
47
request
1 byte
send data to slave
40
64
request
---
request data from slave
42
66
response
1…4 bytes
send data from slave to master
43
67
response
4 bytes
send data from slave to master
47
71
response
3 bytes
send data from slave to master
4B
75
response
2 bytes
send data from slave to master
4F
79
response
1 byte
send data from slave to master
60 96
response
---
data transfer ok:
send confirmation of receipt from slave to master
80 128
response
4
bytes
data transfer failed
send abort message from slave to master
chapter
SDO abort code
(
→
page
)
